光学精密工程2009，Vol.17Issue(10)：2520-2527,8.
晃动基座下激光陀螺捷联导航系统初始对准的预滤波
Prefiltering for initial alignment of ring laser gyroscope SINS on rocking base
摘要
Abstract
As the laser gyroscopes and accelerometers in a ring laser gyroscope Strapdown Inertial Navigation System(SINS) generate high noises by the dither motion of a base and a low pass fitering and a wavelet method can not suppress the noises in real time effectively,this paper presents a prefiltering method combining a low pass filtering and a Kalman filtering based on a hidden Markov model.Firstly,the output of a sensor is filtered by the lowpass filter,then it is filtered by the steady-state Kalman filter based on the hidden Markov model.By this way,the large sensor noise brought by the dither motion of the base can be lowed down to a very low level.Experiment results show that this prefiltering method can work efficiently with a low computational complexity.When the vehicle engine is on,the standard variances of the ring laser gyroscope and accelerometer are suppressed from 300°/h to 1°/ h and from 11 mg to 40 μg,respectively.It is concluded that the proposed prefiltering can help SINS accomplish the initial alignment on a rocking base.关键词
激光陀螺/捷联导航系统/初始对准/隐式马尔可夫模型/卡尔曼滤波Key words
ring laser gyroscope/strapdown inertial navigation system/initial alignment/hidden Markov model/Kalman filter分类
交通工程引用本文复制引用
吕少麟,谢玲,陈家斌..晃动基座下激光陀螺捷联导航系统初始对准的预滤波[J].光学精密工程,2009,17(10):2520-2527,8.基金项目
装备预先研究资助项目(No.51309010601) （No.51309010601）
